2021-04-122006-01-011563478218SCOPUS;2-s2.0-33846518916http://hdl.handle.net/10784/27890This paper presents a rapid software prototyping environment (RSPE) for the design, simulation, and real-time implementation of a control system for an autonomous mini-helicopter. The software prototyping environment consists of diverse modules, including a mini-helicopter simulation model, a navigation filter, different controllers, a ground control station, and linearization and parameter identification tools. The environment is intended to reduce development time and costs, giving the designer more time to focus on mathematical and algorithmic methods. A hardware-in-the-loop (HIL) simulation example is presented to study the use and advantages of the prototyping environment in control design and simulation. Copyright © 2006 by EAFIT University.enginfo:eu-repo/semantics/conferencePaperControl designsHardware-in-the-loop (HIL) simulationNavigation filtersParameter identification toolsComputer simulationControl systemsFlight dynamicsHelicoptersParameter estimationReal time systemsUnmanned vehiclesRapid prototyping2021-04-12Vélez, C.M.Agudelo, A.Alvarez, J.